WO2021068542A1

WO2021068542A1 - Force feedback technology-based robot system for active and passive rehabilitation training of upper limbs

Info

Publication number: WO2021068542A1
Application number: PCT/CN2020/095733
Authority: WO
Inventors: 宋爱国; 莫依婷; 秦欢欢; 李会军; 徐宝国
Original assignee: 东南大学
Priority date: 2019-10-12
Filing date: 2020-06-12
Publication date: 2021-04-15
Also published as: US11771613B2; CN110742775A; US20210346225A1; CN110742775B

Abstract

A force feedback technology-based robot system for active and passive rehabilitation training of upper limbs, which comprises a robot body (2) and active and passive training upper computer systems (3, 4), and which is capable of developing, according to the illness of the patient, the active and passive rehabilitation training of the degrees of freedom of adduction/abduction and front flexion/rear extension of the left shoulder joint and the right shoulder joint and the front flexion/rear extension of the left elbow joint and the right elbow joint of a patient Under a passive rehabilitation training pattern, the upper limbs of the patient are driven by the robot body (2) to move according to a track set an the upper computer, so that basic moving functions of the upper limbs are restored step by step; and under an active rehabilitation training pattern, two hands of the patient grasp the tail end of the robot body (2) to interact with a rehabilitation training scenario, and the patient may feel real and precise force feedback. In addition, real-time training data recording is supported, and scientific and quantitative evaluation of the rehabilitation training effect is implemented, thereby improving the rehabilitation treatment effect.

Description

Active and passive upper limb rehabilitation training robot system based on force feedback technology

Technical field

The invention relates to a rehabilitation robot, in particular to an upper limb active and passive rehabilitation training robot system based on force feedback technology.

Background technique

With the development of society and the intensification of aging, the number of people with hemiplegia caused by the cardio-cerebrovascular or nervous system has also increased year by year, and rehabilitation medicine has gradually received social attention. Studies have shown that after long-term rehabilitation training, stroke patients can slowly recover their motor functions by obtaining sufficient exercise and sensory stimulation. However, at present, most medical staff assist patients in one-on-one rehabilitation training, which not only requires the patient's financial situation, but the boring long-term training also causes a certain psychological burden on the patient. In addition, the effect of rehabilitation training mainly relies on the subjective judgment of medical staff, and there is no data for evaluation. In recent years, there have been some devices that can replace medical staff in repetitive passive rehabilitation training, which can greatly reduce the physical burden of medical staff and allow them to focus more on customizing personalized rehabilitation training programs for patients. However, devices that lack active rehabilitation training functions are out of touch with daily life and affect the independent living ability of patients.

An active and passive upper limb rehabilitation training robot system based on force feedback technology uses an integrated structural design, does not require other somatosensory devices, can provide active and passive rehabilitation training modes, and can play its role in the entire rehabilitation stage of the patient. Passive training actions can be customized according to the actual situation of the patient, and the vivid and rich active training mode can also reduce the psychological burden of the patient during the training process. In the process of interacting with the game scene, the system can also provide accurate force feedback , To enhance the sense of immersion and realism, and enhance the training effect.

Summary of the invention

The purpose of the present invention is to provide an upper limb active and passive rehabilitation training robot system based on force feedback technology, which provides repetitive passive rehabilitation training stimulation and active rehabilitation training with force feedback for patients who need upper limb rehabilitation.

Technical solution: An active and passive upper limb rehabilitation training robot system based on force feedback technology, which is characterized in that it includes:

The robot body includes two multi-degree-of-freedom manipulator arms and motor units for placing the patient's hands, and the end of the manipulator arm is equipped with a force/torque sensor;

The active and passive training host computer system is used for active rehabilitation training and/or passive rehabilitation training; when the system provides passive rehabilitation training, the patient's hand is supported by the end of the robotic arm, and the system will track the expected end position of the robotic arm according to the rehabilitation training actions Calculate as the motor's motion angle, and control the robotic arm to pull the upper limbs to complete the training tasks set by the system; when the system provides active rehabilitation training, the robotic arm acts as a human-computer interaction interface, and the human-computer interaction interface and force/torque sensor provide vision Feedback and force feedback to complete tasks in virtual rehabilitation training scenarios.

Further, the robot body is worn on the human body through a detachable part. The detachable part is preferably a waist belt, and two multi-degree-of-freedom mechanical arms are respectively installed on both sides of the waist belt.

Further, the passive rehabilitation training specifically includes the following content:

According to the rehabilitation training action, the system calculates the expected end position trajectory into the motion angle of the six motors and stores it through the inverse kinematics calculation formula of the robotic arm;

Both upper limbs are driven by mechanical arms and are trained in accordance with the set rehabilitation actions until the specified number of training sessions is reached;

According to the feedback information of the motor in the training process, the standard degree of the upper limb movement of the patient is analyzed, and the rehabilitation effect is scored; after multiple rehabilitation effect scoring, the passive rehabilitation effect curve diagram of the patient is obtained. The feedback information of the motor includes angle and/or current.

Further, the active rehabilitation training includes visual feedback rehabilitation training and force feedback rehabilitation training:

Visual feedback rehabilitation training: The human-computer interaction interface of the system displays the scene of the rehabilitation training task and the patient's virtual hand. The position of the virtual hand changes with the position of the patient's hand. The position of the virtual hand is determined by the system. The angle information of the six motors is calculated by the positive kinematics calculation formula of the robotic arm. The human-computer interaction interface continuously updates the position of the patient's hand to provide the patient with visual feedback information;

Force feedback rehabilitation training: The patient's hand manipulates the virtual hand in the human-computer interaction interface to collide with the virtual object through the end of the robotic arm. The system calculates the force/torque information generated by the collision according to the algorithm and analyzes the statics of the robotic arm. The force/moment is distributed to each motor, and the mechanical arm presents force on the patient's upper limbs, allowing the patient to feel the force during the active rehabilitation training process.

Compared with the prior art, the present invention has the following significant advantages: 1. The active and passive upper limb rehabilitation training robot system of the present invention based on force feedback technology does not require additional somatosensory devices, and the robot system performs two-way interaction between the patient and the rehabilitation training scene. The media can gradually enhance the flexibility of the patient’s upper limbs through active and passive rehabilitation training. 2. In the active training process, the system provides real-time force feedback for the upper limbs through the robotic arm according to the interaction between the patient and the rehabilitation system, and enhances the rehabilitation training effect through the dual stimulation of visual information and force information. 3. The robot has a compact structure, is light and easy to wear, and has low cost. Compared with traditional methods, the training process is more efficient and patients are more motivated to participate. It has important research significance and practical value for improving the effect of upper limb rehabilitation training.

Description of the drawings

Figure 1 is a schematic diagram of a three-degree-of-freedom upper limb active and passive rehabilitation training robot system structure of the present invention;

Figure 2 is a flow chart of the passive rehabilitation training method of the present invention;

Figure 3 is a flow chart of the active rehabilitation training method of the present invention;

Figure 4 is a control diagram for the system to achieve precise force feedback.

Detailed ways

The technical solutions of the present invention will be described in detail below in conjunction with the drawings and specific implementations.

As shown in Figure 1, an active and passive upper limb rehabilitation training robot system based on force feedback technology includes a robot body 2 and an active and passive training upper computer system. Among them, the robot body 2 includes two three-degree-of-freedom robot arms and six motor units for driving the robot arms. The patient 1 wears the robot body 2 on the waist through a hard belt. Preferably, the hard belt can be adjusted by Velcro The degree of tightness. Human hands hold the ends of the two robotic arms that extend from both sides of the waist belt, and force/torque sensors are installed at the ends of the robotic arms. The active and passive training host computer system includes an active rehabilitation training host computer 3 and a passive rehabilitation training host computer 4.

There is two-way data transfer between the robot body 2 and the passive rehabilitation training host computer 4: the host computer transmits the control instructions of the six motors to the robot body; the motor data (such as angle, current) of the robot body 2 is fed back to the host computer. There is two-way data transfer between the robot body 2 and the active rehabilitation training game 3. The robot body 2 transfers the data of the six motors and force/torque sensors to the upper computer; the upper computer transfers the data of the control motors to the robot body. When the system provides passive rehabilitation training, the patient holds the end of the robotic arm with both hands and pulls the upper limbs through the robotic arm to complete long-term and highly repetitive training tasks. At this time, the robotic arm plays a role in supporting passive rehabilitation training. When the system provides active rehabilitation training, the patient holds the end of the robotic arm with both hands and completes some tasks in the virtual rehabilitation training scene with visual feedback and force feedback. The human-machine integrated design makes the system without additional installation of somatosensory equipment. The upper limb active and passive rehabilitation training robot system uses two robotic arms extending from the waist as the human-computer interaction interface, helping patients to perform a large number of active and passive Rehabilitation training has important application value for upper limb rehabilitation training.

Fig. 2 shows a flow chart of the passive rehabilitation using method of the upper limb active and passive rehabilitation training robot system based on the force feedback technology. In the early stage of rehabilitation training, the patient's muscle group function is insufficient, and the collaboration between the joints is insufficient. A lot of repetitive passive rehabilitation training is required first. First of all, medical staff conduct a basic examination of the patient to determine whether the patient’s upper limbs have basic autonomous motor functions. If not, evaluate the upper limb functions such as shoulder joint adduction and abduction, shoulder joint extension and flexion, and elbow joint flexion and extension. Rehabilitation needs, and customize training actions and training times for them. According to the trajectory of the training action, the passive rehabilitation training upper computer software calculates the angles of the joints of the two mechanical arms, and sends instructions to the motors through the bus. The patient wears the robot body on the waist and adjusts it with Velcro, holds the end of the robot arm with both hands, and the robot arm drives the upper limbs to move until the number of training is reached. According to the feedback information of the motor during the training process, analyze the movement of the patient's upper limbs. The standard degree is used to score the rehabilitation effect. After multiple rehabilitation effect scores, the passive rehabilitation effect curve diagram of the patient can be obtained. The state of the motor is monitored throughout the process. If there is any abnormality (such as excessive feedback current), it will automatically perform power-off processing to ensure the safety of the patient.

Fig. 3 shows a flow chart of the active rehabilitation using method of the active and passive upper limb rehabilitation training robot system based on force feedback technology. After the patient has undergone long-term passive rehabilitation training, his muscle group ability and joint function have been greatly restored, and he has regained basic athletic ability. At this time, the patient needs scientific active rehabilitation training to improve the flexibility of the upper limbs. . First, the medical staff judges the patient's upper limb flexibility and coordination through simple tests. If rehabilitation is required, appropriate rehabilitation training tasks are designed according to their specific conditions. For example, the training tasks can be carried out in the form of game interaction. In the active rehabilitation training process, no additional somatosensory device is needed. The robotic arm is the human-computer interaction interface between the patient and the rehabilitation game. The patient holds the end of the robotic arm, and the active rehabilitation training host computer is in the human-computer interaction interface (computer screen ) Shows the game scene of rehabilitation training. Two small balls can be used as the proxy of the hands on the scene screen, and the position of the small balls changes according to the position of the hands. The position of the ball is the result calculated by the system based on the angle information of the six motors through the positive kinematics calculation formula of the three-degree-of-freedom manipulator. The patient controls the movement of the robotic arm, and the angle information of the robotic arm joint is transmitted to the active rehabilitation training host computer. The position of the terminal agent ball in the game scene is solved through kinematic equations. The position of the ball is constantly updated to provide vision for the patient information.

In addition, in the active rehabilitation training process, the system can also provide accurate force feedback to the patient, so that the patient feels force when holding the mechanical arm during training. Through the double stimulation of visual information and force information, the rehabilitation game is more vivid and more vivid. Reality, thereby increasing the enthusiasm of patients to train. Fig. 4 shows the control diagram of the active and passive upper limb rehabilitation training robot system of the present invention for realizing accurate force feedback. During the active training process, if the system detects a collision between the end agent and the virtual object, the system will calculate the force/torque according to the collision algorithm, and solve the expected force/torque to each joint of the robotic arm through the statics equation. At the same time, the corresponding control command is sent to the motor. In order to ensure the accuracy of force feedback at the end of the manipulator, the detection signal of the force/torque sensor at the end of the manipulator is used as the feedback signal to adjust the working state of the motor in real time, so as to provide patients with a more accurate and true force feedback feeling.

According to the information recorded in the training process (such as the duration of task completion), analyze the patient's upper limb flexibility and coordination, and score the rehabilitation effect. After multiple rehabilitation effect scores, the patient's active rehabilitation effect curve can be obtained.

In summary, the present invention designs an active and passive upper limb rehabilitation training robot system based on force feedback technology. Through the integrated design of man-machine, the robot system is directly worn on the waist of the person, and the person holds the two protruding from the waist. At the end of the robotic arm, some active and passive rehabilitation training for both upper limbs is completed for shoulder joint adduction and abduction, shoulder joint extension and flexion, and elbow joint flexion and extension. Secondly, without additional somatosensory devices, the flexibility of the patient's upper limbs can be gradually enhanced through active and passive rehabilitation training. Not only that, in the active training process, the system provides real-time force feedback for the upper limbs through the robotic arm according to the interaction between the patient and the rehabilitation game, and enhances the effect of rehabilitation training through the dual stimulation of visual information and force information. The specific training content can be modified and customized according to the actual situation of the patient, such as the angle of the joints during passive rehabilitation, and the form and difficulty of tasks during active training.

Claims

An active and passive upper limb rehabilitation training robot system based on force feedback technology is characterized in that it includes:

The robot body includes two multi-degree-of-freedom manipulator arms and motor units for placing the patient's hands, and the end of the manipulator arm is equipped with a force/torque sensor;

The active and passive training host computer system is used for active rehabilitation training and/or passive rehabilitation training; when the system provides passive rehabilitation training, the patient's hand is supported by the end of the robotic arm, and the system will track the expected end position of the robotic arm according to the rehabilitation training actions It is calculated as the movement angle of the motor, and the robot arm is controlled to pull the upper limbs to complete the training tasks set by the system; when the system provides active rehabilitation training, the human-computer interface provides virtual rehabilitation training scenes. The hand controls the end of the robotic arm. The system uses visual feedback and force feedback to enable the patient to interact with the rehabilitation training scene to complete the tasks in the virtual rehabilitation training scene.
The robot system for active and passive upper limb rehabilitation training according to claim 1, wherein the robot body is worn on the human body through a detachable part.
The active and passive upper limb rehabilitation training robot system according to claim 2, wherein the detachable part is a waist belt, and two multi-degree-of-freedom mechanical arms are respectively installed on both sides of the waist belt.
The robot system for active and passive upper limb rehabilitation training according to claim 1, wherein the passive rehabilitation training specifically includes the following content:

According to the rehabilitation training action, the system calculates the expected end position trajectory into the motion angle of the six motors and stores it through the inverse kinematics calculation formula of the robotic arm;

Both upper limbs are driven by mechanical arms and are trained in accordance with the set rehabilitation actions until the specified number of training sessions is reached;

According to the feedback information of the motor in the training process, the standard degree of the upper limb movement of the patient is analyzed, and the rehabilitation effect is scored; after multiple rehabilitation effect scoring, the passive rehabilitation effect curve diagram of the patient is obtained.
The active and passive upper limb rehabilitation training robot system of claim 3, wherein the feedback information of the motor includes angle and/or current.
The robot system for active and passive upper limb rehabilitation training of claim 1, wherein the active rehabilitation training includes visual feedback information and force feedback information;

The visual feedback information is presented in the following manner: the scene of the rehabilitation training task and the patient's virtual hand are displayed on the human-computer interaction interface of the system. The position of the virtual hand changes with the position of the patient's hand, and the virtual hand The position is calculated by the system based on the angle information of the six motors through the positive kinematics calculation formula of the robotic arm. The human-computer interaction interface continuously updates the patient's hand position to provide the patient with visual feedback information;

The force feedback information is presented in the following manner: the patient's hand manipulates the virtual hand in the human-computer interaction interface to collide with the virtual object through the end of the robotic arm, and the system calculates the force/torque information generated by the collision according to the algorithm, and uses the robotic arm According to the statics analysis, the force/torque is distributed to each motor, and the mechanical arm presents a force on the patient’s upper limbs, allowing the patient to feel the force during the active rehabilitation training process.